source: trunk/FACT++/src/cosyctrl.cc@ 19805

Last change on this file since 19805 was 18360, checked in by tbretz, 10 years ago
Updated help text.
File size: 52.2 KB
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1#include <boost/regex.hpp>
2
3#ifdef HAVE_SQL
4#include "Database.h"
5#endif
6
7#include "FACT.h"
8#include "Dim.h"
9#include "Event.h"
10#include "Shell.h"
11#include "StateMachineDim.h"
12#include "StateMachineAsio.h"
13#include "Connection.h"
14#include "LocalControl.h"
15#include "Configuration.h"
16#include "Timers.h"
17#include "Console.h"
18
19#include "HeadersDrive.h"
20
21namespace ba = boost::asio;
22namespace bs = boost::system;
23namespace dummy = ba::placeholders;
24
25using namespace std;
26using namespace Drive;
27
28// ------------------------------------------------------------------------
29
30class ConnectionDrive : public Connection
31{
32 int fState;
33
34 bool fIsVerbose;
35
36 // --verbose
37 // --hex-out
38 // --dynamic-out
39 // --load-file
40 // --leds
41 // --trigger-interval
42 // --physcis-coincidence
43 // --calib-coincidence
44 // --physcis-window
45 // --physcis-window
46 // --trigger-delay
47 // --time-marker-delay
48 // --dead-time
49 // --clock-conditioner-r0
50 // --clock-conditioner-r1
51 // --clock-conditioner-r8
52 // --clock-conditioner-r9
53 // --clock-conditioner-r11
54 // --clock-conditioner-r13
55 // --clock-conditioner-r14
56 // --clock-conditioner-r15
57 // ...
58
59 virtual void UpdatePointing(const Time &, const array<double, 2> &)
60 {
61 }
62
63 virtual void UpdateTracking(const Time &, const array<double, 8> &)
64 {
65 }
66
67 virtual void UpdateStatus(const Time &, const array<uint8_t, 3> &)
68 {
69 }
70
71 virtual void UpdateStarguider(const Time &, const DimStarguider &)
72 {
73 }
74
75 virtual void UpdateTPoint(const Time &, const DimTPoint &, const string &)
76 {
77 }
78
79public:
80 virtual void UpdateSource(const string & = "", bool = false)
81 {
82 }
83 virtual void UpdateSource(const array<double, 6> &, const string& = "")
84 {
85 }
86
87protected:
88 map<uint16_t, int> fCounter;
89
90 ba::streambuf fBuffer;
91
92public:
93 static Time ReadTime(istream &in)
94 {
95 uint16_t y, m, d, hh, mm, ss, ms;
96 in >> y >> m >> d >> hh >> mm >> ss >> ms;
97
98 return Time(y, m, d, hh, mm, ss, ms*1000);
99 }
100
101 static double ReadAngle(istream &in)
102 {
103 char sgn;
104 uint16_t d, m;
105 float s;
106
107 in >> sgn >> d >> m >> s;
108
109 const double ret = ((60.0 * (60.0 * (double)d + (double)m) + s))/3600.;
110 return sgn=='-' ? -ret : ret;
111 }
112
113 double GetDevAbs(double nomzd, double meszd, double devaz)
114 {
115 nomzd *= M_PI/180;
116 meszd *= M_PI/180;
117 devaz *= M_PI/180;
118
119 const double x = sin(meszd) * sin(nomzd) * cos(devaz);
120 const double y = cos(meszd) * cos(nomzd);
121
122 return acos(x + y) * 180/M_PI;
123 }
124
125 uint16_t fDeviationLimit;
126 uint16_t fDeviationCounter;
127 uint16_t fDeviationMax;
128
129 vector<double> fDevBuffer;
130 uint64_t fDevCount;
131
132 uint64_t fTrackingCounter;
133
134 void ProcessDriveStatus(const string &line)
135 {
136 Message(line);
137 }
138
139 bool ProcessStargReport(const string &line)
140 {
141 istringstream stream(line);
142
143 // 0: Error
144 // 1: Standby
145 // 2: Monitoring
146 uint16_t status1;
147 stream >> status1;
148 /*const Time t1 = */ReadTime(stream);
149
150 uint16_t status2;
151 stream >> status2;
152 /*const Time t2 = */ReadTime(stream);
153
154 double misszd, missaz;
155 stream >> misszd >> missaz;
156
157 const double zd = ReadAngle(stream);
158 const double az = ReadAngle(stream);
159
160 double cx, cy;
161 stream >> cx >> cy;
162
163 int ncor;
164 stream >> ncor;
165
166 double bright, mjd;
167 stream >> bright >> mjd;
168
169 int nled, nring, nstars;
170 stream >> nled >> nring >> nstars;
171
172 if (stream.fail())
173 return false;
174
175 DimStarguider data;
176
177 data.fMissZd = misszd;
178 data.fMissAz = missaz;
179 data.fNominalZd = zd;
180 data.fNominalAz = az;
181 data.fCenterX = cx;
182 data.fCenterY = cy;
183 data.fNumCorrelated = ncor;
184 data.fBrightness = bright;
185 data.fNumLeds = nled;
186 data.fNumRings = nring;
187 data.fNumStars = nstars;
188
189 UpdateStarguider(Time(mjd), data);
190
191 return true;
192 }
193
194 bool ProcessTpointReport(const string &line)
195 {
196 istringstream stream(line);
197
198 uint16_t status1;
199 stream >> status1;
200 const Time t1 = ReadTime(stream);
201
202 uint16_t status2;
203 stream >> status2;
204 /*const Time t2 =*/ ReadTime(stream);
205
206 char type;
207 stream >> type;
208 if (type != 'T')
209 return false;
210
211 double az1, alt1, az2, alt2, ra, dec, dzd, daz;
212 stream >> az1 >> alt1 >> az2 >> alt2 >> ra >> dec >> dzd >> daz;
213
214 // c: center, s:start
215 double mjd, cmag, smag, cx, cy, sx, sy;
216 stream >> mjd >> cmag >> smag >> cx >> cy >> sx >> sy;
217
218 int nled, nring, nstar, ncor;
219 stream >> nled >> nring >> nstar >> ncor;
220
221 double bright, mag;
222 stream >> bright >> mag;
223
224 string name;
225 stream >> name;
226
227 if (stream.fail())
228 return false;
229
230 DimTPoint tpoint;
231
232 tpoint.fRa = ra;
233 tpoint.fDec = dec;
234
235 tpoint.fNominalZd = 90-alt1-dzd;
236 tpoint.fNominalAz = az1 +daz;
237
238 tpoint.fPointingZd = 90-alt1;
239 tpoint.fPointingAz = az1;
240
241 tpoint.fFeedbackZd = 90-alt2;
242 tpoint.fFeedbackAz = az2;
243
244 tpoint.fNumLeds = nled;
245 tpoint.fNumRings = nring;
246
247 tpoint.fCenterX = cx;
248 tpoint.fCenterY = cy;
249 tpoint.fCenterMag = cmag;
250
251 tpoint.fStarX = sx;
252 tpoint.fStarY = sy;
253 tpoint.fStarMag = smag;
254
255 tpoint.fRealMag = mag;
256
257 UpdateTPoint(t1, tpoint, name);
258
259 return true;
260 }
261
262 bool ProcessDriveReport(const string &line)
263 {
264 // DRIVE-REPORT M1
265 // 01 2011 05 14 11 31 19 038
266 // 02 1858 11 17 00 00 00 000
267 // + 000 00 000 + 000 00 000
268 // + 000 00 000
269 // 55695.480081
270 // + 000 00 000 + 000 00 000
271 // + 000 00 000 + 000 00 000
272 // 0000.000 0000.000
273 // 0 2
274
275 // status
276 // year month day hour minute seconds millisec
277 // year month day hour minute seconds millisec
278 // ra(+ h m s) dec(+ d m s) ha(+ h m s)
279 // mjd
280 // zd(+ d m s) az(+ d m s)
281 // zd(+ d m s) az(+ d m s)
282 // zd_err az_err
283 // armed(0=unlocked, 1=locked)
284 // stgmd(0=none, 1=starguider, 2=starguider off)
285 istringstream stream(line);
286
287 uint16_t status1;
288 stream >> status1;
289 const Time t1 = ReadTime(stream);
290
291 uint16_t status2;
292 stream >> status2;
293 /*const Time t2 =*/ ReadTime(stream);
294
295 const double ra = ReadAngle(stream);
296 const double dec = ReadAngle(stream);
297 const double ha = ReadAngle(stream);
298
299 double mjd;
300 stream >> mjd;
301
302 const double zd1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with zd)
303 const double az1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with z)
304 const double zd2 = ReadAngle(stream); // Masured (zd/az synchronous, dev asynchronous, mjd asynchronous)
305 const double az2 = ReadAngle(stream); // Measurd (zd/az synchronous, dev asynchronous, mjd asynchronous)
306
307 double zd_err, az_err;
308 stream >> zd_err; // Deviation = Nominal - Measured
309 stream >> az_err; // Deviation = Nominal - Measured
310
311 uint16_t armed, stgmd;
312 stream >> armed;
313 stream >> stgmd;
314
315 uint32_t pdo3;
316 stream >> hex >> pdo3;
317
318 if (stream.fail())
319 return false;
320
321 // Status 0: Error
322 // Status 1: Stopped
323 // Status 3: Stopping || Moving
324 // Status 4: Tracking
325 if (status1==0)
326 status1 = StateMachineImp::kSM_Error - Drive::State::kNotReady;
327
328 const bool ready = (pdo3&0xef00ef)==0xef00ef;
329 if (!ready)
330 fState = Drive::State::kNotReady;
331 else
332 fState = status1==1 ?
333 Drive::State::kReady+armed :
334 Drive::State::kNotReady+status1;
335
336 // kDisconnected = 1,
337 // kConnected,
338 // kNotReady,
339 // kReady,
340 // kArmed,
341 // kMoving,
342 // kTracking,
343 // kOnTrack,
344
345 // pdo3:
346 // 1 Ab
347 // 2 1
348 // 4 Emergency
349 // 8 OverVolt
350 // 10 Move (Drehen-soll)
351 // 20 Af
352 // 40 1
353 // 80 Power on Az
354 // ------------------
355 // 100 NOT UPS Alarm
356 // 200 UPS on Battery
357 // 400 UPS charging
358
359 // Power cut: 2ef02ef
360 // charging: 4ef04ef
361
362 // Convert to deg
363 zd_err /= 3600;
364 az_err /= 3600;
365
366 // Calculate absolut deviation on the sky
367
368 const double dev = GetDevAbs(zd1, zd1-zd_err, az_err)*3600;
369
370 fDevBuffer[fDevCount++%5] = dev;
371
372 const uint8_t cnt = fDevCount<5 ? fDevCount : 5;
373 const double avgdev = accumulate(fDevBuffer.begin(), fDevBuffer.begin()+cnt, 0)/cnt;
374
375 // If any other state than tracking or a deviation
376 // larger than 60, reset the counter
377 if (fState!=State::kTracking || avgdev>fDeviationLimit)
378 fTrackingCounter = 0;
379 else
380 fTrackingCounter++;
381
382 // If in tracking, at least five consecutive reports (5s)
383 // must be below 60arcsec deviation, this is considered OnTrack
384 if (fState==State::kTracking && fTrackingCounter>=fDeviationCounter)
385 fState = State::kOnTrack;
386
387 // Having th state as Tracking will reset the counter
388 if (fState==State::kOnTrack && avgdev>fDeviationMax)
389 fState = State::kTracking;
390
391 if (fState!=State::kTracking && fState!=State::kOnTrack)
392 fDevCount = 0;
393
394 // 206 206 ce ce pwr vlt emcy fs | pwr vlt emcy fs
395 // 239 239 ef ef pwr vlt emcy fs bb rf | pwr vlt emcy fs bb rf
396 // 111 78 6f 4e vlt emcy fs bb rf | emcy fs bb
397
398 /*
399 fArmed = data[3]&0x01; // armed status
400 fPosActive = data[3]&0x02; // positioning active
401 fRpmActive = data[3]&0x04; // RPM mode switched on
402 // data[3]&0x08; // - unused -
403 // data[3]&0x10; // - unused -
404 // data[3]&0x20; // - unused -
405 //fInControl = data[3]&0x40; // motor uncontrolled
406 // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on)
407
408 fStatus = data[3];
409 }
410
411 const LWORD_t stat = data[0] | (data[1]<<8);
412 if (fStatusPdo3!=stat)
413 {
414 gLog << inf << MTime(-1) << ": " << GetNodeName() << " - PDO3(0x" << hex << (int)stat << dec << ") = ";
415 const Bool_t ready = stat&0x001;
416 const Bool_t fuse = stat&0x002;
417 const Bool_t emcy = stat&0x004;
418 const Bool_t vltg = stat&0x008;
419 const Bool_t mode = stat&0x010;
420 const Bool_t rf = stat&0x020;
421 const Bool_t brake = stat&0x040;
422 const Bool_t power = stat&0x080;
423 const Bool_t alarm = stat&0x100; // UPS Alarm (FACT only)
424 const Bool_t batt = stat&0x200; // UPS on battery (FACT only)
425 const Bool_t charge = stat&0x400; // UPS charging (FACT only)
426 if (ready) gLog << "DKC-Ready ";
427 if (fuse) gLog << "FuseOk ";
428 if (emcy) gLog << "EmcyOk ";
429 if (vltg) gLog << "OvervoltOk ";
430 if (mode) gLog << "SwitchToManualMode ";
431 if (rf) gLog << "RF ";
432 if (brake) gLog << "BrakeOpen ";
433 if (power) gLog << "PowerOn ";
434 if (alarm) gLog << "UPS-PowerLoss ";
435 if (batt) gLog << "UPS-OnBattery ";
436 if (charge) gLog << "UPS-Charging ";
437 gLog << endl;
438
439 fStatusPdo3 = stat;
440 }*/
441
442 // ((stat1&0xffff)<<16)|(stat2&0xffff)
443 // no alarm, no batt, no charge
444 const array<uint8_t, 3> state = {{ uint8_t(pdo3>>16), uint8_t(pdo3), uint8_t(pdo3>>24) }};
445 UpdateStatus(t1, state);
446
447 const array<double, 2> point = {{ zd2, az2 }};
448 UpdatePointing(t1, point);
449
450 const array<double, 8> track =
451 {{
452 ra, dec, ha,
453 zd1, az1,
454 zd_err, az_err,
455 dev
456 }};
457 if (mjd>0)
458 UpdateTracking(Time(mjd), track);
459
460 // ---- DIM ----> t1 as event time
461 // status1
462 // mjd
463 // ra/dec/ha
464 // zd/az (nominal)
465 // zd/az (current)
466 // err(zd/az)
467 // [armed] [stgmd]
468
469 // Maybe:
470 // POINTING_POSITION --> t1, zd/az (current), [armed, stgmd, status1]
471 //
472 // if (mjd>0)
473 // TRACKING_POSITION --> mjd, zd/az (nominal), err(zd/az)
474 // ra/dec, ha(not well defined),
475 // [Nominal + Error == Current]
476
477 // MJD is the time which corresponds to the nominal position
478 // t1 is the time which corresponds to the current position/HA
479
480 return true;
481 }
482
483protected:
484 void HandleReceivedReport(const boost::system::error_code& err, size_t bytes_received)
485 {
486 // Do not schedule a new read if the connection failed.
487 if (bytes_received==0 || err)
488 {
489 if (err==ba::error::eof)
490 Warn("Connection closed by remote host (cosy).");
491
492 // 107: Transport endpoint is not connected (bs::error_code(107, bs::system_category))
493 // 125: Operation canceled
494 if (err && err!=ba::error::eof && // Connection closed by remote host
495 err!=ba::error::basic_errors::not_connected && // Connection closed by remote host
496 err!=ba::error::basic_errors::operation_aborted) // Connection closed by us
497 {
498 ostringstream str;
499 str << "Reading from " << URL() << ": " << err.message() << " (" << err << ")";// << endl;
500 Error(str);
501 }
502 PostClose(err!=ba::error::basic_errors::operation_aborted);
503 return;
504 }
505
506 istream is(&fBuffer);
507
508 string line;
509 getline(is, line);
510
511 if (fIsVerbose)
512 Out() << line << endl;
513
514 StartReadReport();
515
516 if (line.substr(0, 13)=="DRIVE-STATUS ")
517 {
518 ProcessDriveStatus(line.substr(70));
519 return;
520 }
521
522 if (line.substr(0, 13)=="STARG-REPORT ")
523 {
524 ProcessStargReport(line.substr(16));
525 return;
526 }
527
528 if (line.substr(0, 14)=="TPOINT-REPORT ")
529 {
530 ProcessTpointReport(line.substr(17));
531 return;
532 }
533
534 if (line.substr(0, 13)=="DRIVE-REPORT ")
535 {
536 ProcessDriveReport(line.substr(16));
537 return;
538 }
539 }
540
541 void StartReadReport()
542 {
543 boost::asio::async_read_until(*this, fBuffer, '\n',
544 boost::bind(&ConnectionDrive::HandleReceivedReport, this,
545 dummy::error, dummy::bytes_transferred));
546 }
547
548 boost::asio::deadline_timer fKeepAlive;
549
550 void KeepAlive()
551 {
552 PostMessage(string("KEEP_ALIVE"));
553
554 fKeepAlive.expires_from_now(boost::posix_time::seconds(10));
555 fKeepAlive.async_wait(boost::bind(&ConnectionDrive::HandleKeepAlive,
556 this, dummy::error));
557 }
558
559 void HandleKeepAlive(const bs::error_code &error)
560 {
561 // 125: Operation canceled (bs::error_code(125, bs::system_category))
562 if (error && error!=ba::error::basic_errors::operation_aborted)
563 {
564 ostringstream str;
565 str << "Write timeout of " << URL() << ": " << error.message() << " (" << error << ")";// << endl;
566 Error(str);
567
568 PostClose(false);
569 return;
570 }
571
572 if (!is_open())
573 {
574 // For example: Here we could schedule a new accept if we
575 // would not want to allow two connections at the same time.
576 return;
577 }
578
579 // Check whether the deadline has passed. We compare the deadline
580 // against the current time since a new asynchronous operation
581 // may have moved the deadline before this actor had a chance
582 // to run.
583 if (fKeepAlive.expires_at() > ba::deadline_timer::traits_type::now())
584 return;
585
586 KeepAlive();
587 }
588
589
590private:
591 // This is called when a connection was established
592 void ConnectionEstablished()
593 {
594 StartReadReport();
595 KeepAlive();
596 }
597
598 /*
599 void HandleReadTimeout(const bs::error_code &error)
600 {
601 if (error && error!=ba::error::basic_errors::operation_aborted)
602 {
603 stringstream str;
604 str << "Read timeout of " << URL() << ": " << error.message() << " (" << error << ")";// << endl;
605 Error(str);
606
607 PostClose();
608 return;
609
610 }
611
612 if (!is_open())
613 {
614 // For example: Here we could schedule a new accept if we
615 // would not want to allow two connections at the same time.
616 return;
617 }
618
619 // Check whether the deadline has passed. We compare the deadline
620 // against the current time since a new asynchronous operation
621 // may have moved the deadline before this actor had a chance
622 // to run.
623 if (fInTimeout.expires_at() > ba::deadline_timer::traits_type::now())
624 return;
625
626 Error("Timeout reading data from "+URL());
627
628 PostClose();
629 }*/
630
631
632public:
633
634 static const uint16_t kMaxAddr;
635
636public:
637 ConnectionDrive(ba::io_service& ioservice, MessageImp &imp) : Connection(ioservice, imp()),
638 fState(-1), fIsVerbose(true),
639 fDeviationLimit(120), fDeviationCounter(5), fDeviationMax(240),
640 fDevBuffer(5), fDevCount(0),
641 fTrackingCounter(0), fKeepAlive(ioservice)
642 {
643 SetLogStream(&imp);
644 }
645
646 void SetVerbose(bool b)
647 {
648 fIsVerbose = b;
649 }
650
651 void SetDeviationCondition(uint16_t limit, uint16_t counter, uint16_t max)
652 {
653 fDeviationLimit = limit;
654 fDeviationCounter = counter;
655 fDeviationMax = max;
656 }
657
658 int GetState() const
659 {
660 if (!IsConnected())
661 return 1;
662 if (IsConnected() && fState<0)
663 return 2;
664 return fState;
665 }
666};
667
668const uint16_t ConnectionkMaxAddr = 0xfff;
669
670// ------------------------------------------------------------------------
671
672#include "DimDescriptionService.h"
673
674class ConnectionDimDrive : public ConnectionDrive
675{
676private:
677 DimDescribedService fDimPointing;
678 DimDescribedService fDimTracking;
679 DimDescribedService fDimSource;
680 DimDescribedService fDimTPoint;
681 DimDescribedService fDimStatus;
682
683 void UpdatePointing(const Time &t, const array<double, 2> &arr)
684 {
685 fDimPointing.setData(arr);
686 fDimPointing.Update(t);
687 }
688
689 void UpdateTracking(const Time &t,const array<double, 8> &arr)
690 {
691 fDimTracking.setData(arr);
692 fDimTracking.Update(t);
693 }
694
695 void UpdateStatus(const Time &t, const array<uint8_t, 3> &arr)
696 {
697 fDimStatus.setData(arr);
698 fDimStatus.Update(t);
699 }
700
701 void UpdateTPoint(const Time &t, const DimTPoint &data,
702 const string &name)
703 {
704 vector<char> dim(sizeof(data)+name.length()+1);
705 memcpy(dim.data(), &data, sizeof(data));
706 memcpy(dim.data()+sizeof(data), name.c_str(), name.length()+1);
707
708 fDimTPoint.setData(dim);
709 fDimTPoint.Update(t);
710 }
711
712public:
713 ConnectionDimDrive(ba::io_service& ioservice, MessageImp &imp) :
714 ConnectionDrive(ioservice, imp),
715 fDimPointing("DRIVE_CONTROL/POINTING_POSITION", "D:1;D:1",
716 "|Zd[deg]:Zenith distance (encoder readout)"
717 "|Az[deg]:Azimuth angle (encoder readout)"),
718 fDimTracking("DRIVE_CONTROL/TRACKING_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1",
719 "|Ra[h]:Command right ascension"
720 "|Dec[deg]:Command declination"
721 "|Ha[h]:Corresponding hour angle"
722 "|Zd[deg]:Nominal zenith distance"
723 "|Az[deg]:Nominal azimuth angle"
724 "|dZd[deg]:Control deviation Zd"
725 "|dAz[deg]:Control deviation Az"
726 "|dev[arcsec]:Absolute control deviation"),
727 fDimSource("DRIVE_CONTROL/SOURCE_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;C:31",
728 "|Ra_src[h]:Source right ascension"
729 "|Dec_src[deg]:Source declination"
730 "|Ra_cmd[h]:Command right ascension"
731 "|Dec_cmd[deg]:Command declination"
732 "|Offset[deg]:Wobble offset"
733 "|Angle[deg]:Wobble angle"
734 "|Name[string]:Source name if available"),
735 fDimTPoint("DRIVE_CONTROL/TPOINT_DATA", "D:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;S:1;S:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;C",
736 "|Ra[h]:Command right ascension"
737 "|Dec[deg]:Command declination"
738 "|Zd_nom[deg]:Nominal zenith distance"
739 "|Az_nom[deg]:Nominal azimuth angle"
740 "|Zd_cur[deg]:Current zenith distance (calculated from image)"
741 "|Az_cur[deg]:Current azimuth angle (calculated from image)"
742 "|Zd_enc[deg]:Feedback zenith axis (from encoder)"
743 "|Az_enc[deg]:Feedback azimuth angle (from encoder)"
744 "|N_leds[cnt]:Number of detected LEDs"
745 "|N_rings[cnt]:Number of rings used to calculate the camera center"
746 "|Xc[pix]:X position of center in CCD camera frame"
747 "|Yc[pix]:Y position of center in CCD camera frame"
748 "|Ic[au]:Average intensity (LED intensity weighted with their frequency of occurance in the calculation)"
749 "|Xs[pix]:X position of start in CCD camera frame"
750 "|Ys[pix]:Y position of star in CCD camera frame"
751 "|Ms[mag]:Artifical magnitude of star (calculated form image))"
752 "|Mc[mag]:Catalog magnitude of star"
753 "|name[string]:Name of star"),
754 fDimStatus("DRIVE_CONTROL/STATUS", "C:2;C:1", "")
755
756 {
757 }
758
759 void UpdateSource(const string &name="", bool tracking=false)
760 {
761 vector<char> dat(6*sizeof(double)+31, 0);
762 strncpy(dat.data()+6*sizeof(double), name.c_str(), 30);
763
764 fDimSource.setQuality(tracking);
765 fDimSource.Update(dat);
766 }
767
768 void UpdateSource(const array<double, 6> &arr, const string &name="")
769 {
770 vector<char> dat(6*sizeof(double)+31, 0);
771 memcpy(dat.data(), arr.data(), 6*sizeof(double));
772 strncpy(dat.data()+6*sizeof(double), name.c_str(), 30);
773
774 fDimSource.setQuality(1);
775 fDimSource.Update(dat);
776 }
777
778 // A B [C] [D] E [F] G H [I] J K [L] M N O P Q R [S] T U V W [X] Y Z
779};
780
781// ------------------------------------------------------------------------
782
783template <class T, class S>
784class StateMachineDrive : public StateMachineAsio<T>
785{
786private:
787 S fDrive;
788
789 string fDatabase;
790
791 typedef map<string, Source> sources;
792 sources fSources;
793
794 string fLastCommand; // Last tracking (RADEC) command
795 int fAutoResume; // 0: disabled, 1: enables, 2: resuming
796 Time fAutoResumeTime;
797
798 // Status 0: Error
799 // Status 1: Unlocked
800 // Status 2: Locked
801 // Status 3: Stopping || Moving
802 // Status 4: Tracking
803
804 bool CheckEventSize(size_t has, const char *name, size_t size)
805 {
806 if (has==size)
807 return true;
808
809 ostringstream msg;
810 msg << name << " - Received event has " << has << " bytes, but expected " << size << ".";
811 T::Fatal(msg);
812 return false;
813 }
814
815 enum Coordinates
816 {
817 kPoint,
818 kTrackSlow,
819 kTrackFast
820 };
821
822 string AngleToStr(double angle)
823 {
824 /* Handle sign */
825 const char sgn = angle<0?'-':'+';
826
827 /* Round interval and express in smallest units required */
828 double a = round(3600. * fabs(angle)); // deg to seconds
829
830 /* Separate into fields */
831 const double ad = trunc(a/3600.);
832 a -= ad * 3600.;
833 const double am = trunc(a/60.);
834 a -= am * 60.;
835 const double as = trunc(a);
836
837 /* Return results */
838 ostringstream str;
839 str << sgn << " " << uint16_t(ad) << " " << uint16_t(am) << " " << as;
840 return str.str();
841 }
842
843 int SendCommand(const string &str)
844 {
845 // This happens if fLastCommand should be send,
846 // but the last command was not a tracking command
847 if (str.empty())
848 {
849 T::Info("Last command was not a tracking command. RESUME ignored.");
850 return T::GetCurrentState();
851 }
852
853 fLastCommand = str.compare(0, 6, "RADEC ")==0 ? str : "";
854
855 fDrive.PostMessage(str);
856 T::Message("Sending: "+str);
857
858 return T::GetCurrentState();
859 }
860
861 int TrackCelest(const string &cmd, const string &source)
862 {
863 SendCommand(cmd);
864
865 fDrive.UpdateSource(source, true);
866
867 return T::GetCurrentState();
868 }
869
870 int Park()
871 {
872 SendCommand("PREPS Park");
873 fDrive.UpdateSource("Park");
874
875 // FIXME: Go to locked state only when park position properly reached
876 return Drive::State::kLocked;
877 }
878
879 int SendStop()
880 {
881 SendCommand("STOP!");
882 fDrive.UpdateSource();
883
884 return T::GetCurrentState();
885 }
886
887 int Resume()
888 {
889 if (fLastCommand.empty())
890 {
891 T::Info("Last command was not a tracking command. RESUME ignored.");
892 return T::GetCurrentState();
893 }
894
895
896 T::Info("Resume: "+fLastCommand);
897 return SendCommand(fLastCommand);
898 }
899
900 int SendCoordinates(const EventImp &evt, const Coordinates type)
901 {
902 if (!CheckEventSize(evt.GetSize(), "SendCoordinates", 16))
903 return T::kSM_FatalError;
904
905 const double *dat = evt.Ptr<double>();
906
907 string command;
908
909 switch (type)
910 {
911 case kPoint: command += "ZDAZ "; break;
912 case kTrackSlow: command += "RADEC "; break;
913 case kTrackFast: command += "GRB "; break;
914 }
915
916 if (type!=kPoint)
917 {
918 const array<double, 6> dim = {{ dat[0], dat[1], dat[0], dat[1], 0, 0 }};
919 fDrive.UpdateSource(dim);
920 }
921 else
922 fDrive.UpdateSource("", false);
923
924
925 command += AngleToStr(dat[0]) + ' ' + AngleToStr(dat[1]);
926 return SendCommand(command);
927 }
928
929 int StartWobble(const double &srcra, const double &srcdec,
930 const double &woboff, const double &wobang,
931 const string name="")
932 {
933 const double ra = srcra *M_PI/12;
934 const double dec = srcdec*M_PI/180;
935 const double off = woboff*M_PI/180;
936 const double dir = wobang*M_PI/180;
937
938 const double cosdir = cos(dir);
939 const double sindir = sin(dir);
940 const double cosoff = cos(off);
941 const double sinoff = sin(off);
942 const double cosdec = cos(dec);
943 const double sindec = sin(dec);
944
945 if (off==0)
946 {
947 const array<double, 6> dim = {{ srcra, srcdec, srcra, srcdec, 0, 0 }};
948 fDrive.UpdateSource(dim, name);
949
950 string command = "RADEC ";
951 command += AngleToStr(srcra) + ' ' + AngleToStr(srcdec);
952 return SendCommand(command);
953 }
954
955 const double sintheta = sindec*cosoff + cosdec*sinoff*cosdir;
956 if (sintheta >= 1)
957 {
958 T::Error("cos(Zd) > 1");
959 return T::GetCurrentState();
960 }
961
962 const double costheta = sqrt(1 - sintheta*sintheta);
963
964 const double cosdeltara = (cosoff - sindec*sintheta)/(cosdec*costheta);
965 const double sindeltara = sindir*sinoff/costheta;
966
967 const double ndec = asin(sintheta)*180/M_PI;
968 const double nra = (atan2(sindeltara, cosdeltara) + ra)*12/M_PI;
969
970 const array<double, 6> dim = {{ srcra, srcdec, nra, ndec, woboff, wobang }};
971 fDrive.UpdateSource(dim, name);
972
973 string command = "RADEC ";
974 command += AngleToStr(nra) + ' ' + AngleToStr(ndec);
975 return SendCommand(command);
976 }
977
978 int Wobble(const EventImp &evt)
979 {
980 if (!CheckEventSize(evt.GetSize(), "Wobble", 32))
981 return T::kSM_FatalError;
982
983 const double *dat = evt.Ptr<double>();
984
985 return StartWobble(dat[0], dat[1], dat[2], dat[3]);
986 }
987
988 const sources::const_iterator GetSourceFromDB(const char *ptr, const char *last)
989 {
990 if (find(ptr, last, '\0')==last)
991 {
992 T::Fatal("TrackWobble - The name transmitted by dim is not null-terminated.");
993 throw uint32_t(T::kSM_FatalError);
994 }
995
996 const string name(ptr);
997
998 const sources::const_iterator it = fSources.find(name);
999 if (it==fSources.end())
1000 {
1001 T::Error("Source '"+name+"' not found in list.");
1002 throw uint32_t(T::GetCurrentState());
1003 }
1004
1005 return it;
1006 }
1007
1008 int TrackWobble(const EventImp &evt)
1009 {
1010 if (evt.GetSize()<=2)
1011 {
1012 ostringstream msg;
1013 msg << "Track - Received event has " << evt.GetSize() << " bytes, but expected at least 3.";
1014 T::Fatal(msg);
1015 return T::kSM_FatalError;
1016 }
1017
1018 const uint16_t wobble = evt.GetUShort();
1019 if (wobble!=1 && wobble!=2)
1020 {
1021 ostringstream msg;
1022 msg << "TrackWobble - Wobble id " << wobble << " undefined, only 1 and 2 allowed.";
1023 T::Error(msg);
1024 return T::GetCurrentState();
1025 }
1026
1027 const char *ptr = evt.Ptr<char>(2);
1028 const char *last = ptr+evt.GetSize()-2;
1029
1030 try
1031 {
1032 const sources::const_iterator it = GetSourceFromDB(ptr, last);
1033
1034 const string &name = it->first;
1035 const Source &src = it->second;
1036
1037 return StartWobble(src.ra, src.dec, src.offset, src.angle[wobble-1], name);
1038 }
1039 catch (const uint32_t &e)
1040 {
1041 return e;
1042 }
1043 }
1044
1045 int StartTrackWobble(const char *ptr, size_t size, const double &offset=0, const double &angle=0)
1046 {
1047 const char *last = ptr+size;
1048
1049 try
1050 {
1051 const sources::const_iterator it = GetSourceFromDB(ptr, last);
1052
1053 const string &name = it->first;
1054 const Source &src = it->second;
1055
1056 return StartWobble(src.ra, src.dec, offset, angle, name);
1057 }
1058 catch (const uint32_t &e)
1059 {
1060 return e;
1061 }
1062
1063 }
1064
1065 int Track(const EventImp &evt)
1066 {
1067 if (evt.GetSize()<=16)
1068 {
1069 ostringstream msg;
1070 msg << "Track - Received event has " << evt.GetSize() << " bytes, but expected at least 17.";
1071 T::Fatal(msg);
1072 return T::kSM_FatalError;
1073 }
1074
1075 const double *dat = evt.Ptr<double>();
1076 const char *ptr = evt.Ptr<char>(16);
1077 const size_t size = evt.GetSize()-16;
1078
1079 return StartTrackWobble(ptr, size, dat[0], dat[1]);
1080 }
1081
1082 int TrackOn(const EventImp &evt)
1083 {
1084 if (evt.GetSize()==0)
1085 {
1086 ostringstream msg;
1087 msg << "TrackOn - Received event has " << evt.GetSize() << " bytes, but expected at least 1.";
1088 T::Fatal(msg);
1089 return T::kSM_FatalError;
1090 }
1091
1092 return StartTrackWobble(evt.Ptr<char>(), evt.GetSize());
1093 }
1094
1095
1096 int TakeTPoint(const EventImp &evt)
1097 {
1098 if (evt.GetSize()<=4)
1099 {
1100 ostringstream msg;
1101 msg << "TakePoint - Received event has " << evt.GetSize() << " bytes, but expected at least 5.";
1102 T::Fatal(msg);
1103 return T::kSM_FatalError;
1104 }
1105
1106 const float mag = evt.Get<float>();
1107 const char *ptr = evt.Ptr<char>(4);
1108
1109 string src(ptr);
1110
1111 while (src.find_first_of(' ')!=string::npos)
1112 src.erase(src.find_first_of(' '), 1);
1113
1114 SendCommand("TPOIN "+src+" "+to_string(mag));;
1115
1116 return T::GetCurrentState();
1117 }
1118
1119 int SetLedBrightness(const EventImp &evt)
1120 {
1121 if (!CheckEventSize(evt.GetSize(), "SetLedBrightness", 8))
1122 return T::kSM_FatalError;
1123
1124 const uint32_t *led = evt.Ptr<uint32_t>();
1125
1126 return SendCommand("LEDS "+to_string(led[0])+" "+to_string(led[1]));
1127 }
1128
1129
1130 int SetVerbosity(const EventImp &evt)
1131 {
1132 if (!CheckEventSize(evt.GetSize(), "SetVerbosity", 1))
1133 return T::kSM_FatalError;
1134
1135 fDrive.SetVerbose(evt.GetBool());
1136
1137 return T::GetCurrentState();
1138 }
1139
1140 int SetAutoResume(const EventImp &evt)
1141 {
1142 if (!CheckEventSize(evt.GetSize(), "SetAutoResume", 1))
1143 return T::kSM_FatalError;
1144
1145 fAutoResume = evt.GetBool();
1146
1147 return T::GetCurrentState();
1148 }
1149
1150 int Unlock()
1151 {
1152 if (fDrive.GetState()==StateMachineImp::kSM_Error)
1153 {
1154 T::Warn("Drive in error - maybe no connection to electronics... trying to send STOP.");
1155 SendStop();
1156 }
1157
1158 return Drive::State::kNotReady;
1159 }
1160
1161 int Print()
1162 {
1163 for (auto it=fSources.begin(); it!=fSources.end(); it++)
1164 {
1165 const string &name = it->first;
1166 const Source &src = it->second;
1167
1168 T::Out() << name << ",";
1169 T::Out() << src.ra << "," << src.dec << "," << src.offset << ",";
1170 T::Out() << src.angle[0] << "," << src.angle[1] << endl;
1171 }
1172 return T::GetCurrentState();
1173 }
1174
1175 int ReloadSources()
1176 {
1177 try
1178 {
1179 ReadDatabase();
1180 }
1181 catch (const exception &e)
1182 {
1183 T::Error("Reading sources from databse failed: "+string(e.what()));
1184 }
1185 return T::GetCurrentState();
1186 }
1187
1188 int Disconnect()
1189 {
1190 // Close all connections
1191 fDrive.PostClose(false);
1192
1193 /*
1194 // Now wait until all connection have been closed and
1195 // all pending handlers have been processed
1196 poll();
1197 */
1198
1199 return T::GetCurrentState();
1200 }
1201
1202 int Reconnect(const EventImp &evt)
1203 {
1204 // Close all connections to supress the warning in SetEndpoint
1205 fDrive.PostClose(false);
1206
1207 // Now wait until all connection have been closed and
1208 // all pending handlers have been processed
1209 ba::io_service::poll();
1210
1211 if (evt.GetBool())
1212 fDrive.SetEndpoint(evt.GetString());
1213
1214 // Now we can reopen the connection
1215 fDrive.PostClose(true);
1216
1217 return T::GetCurrentState();
1218 }
1219
1220 Time fSunRise;
1221 /*
1222 int ShiftSunRise()
1223 {
1224 const Time sunrise = fSunRise;
1225
1226 fSunRise = Time().GetNextSunRise();
1227
1228 if (sunrise==fSunRise)
1229 return Drive::State::kLocked;
1230
1231 ostringstream msg;
1232 msg << "Next sun-rise will be at " << fSunRise;
1233 T::Info(msg);
1234
1235 return Drive::State::kLocked;
1236 }*/
1237
1238 int Execute()
1239 {
1240 /*
1241 if (T::GetCurrentState()==Drive::State::kLocked)
1242 return ShiftSunRise();
1243
1244 if (T::GetCurrentState()>Drive::State::kLocked)
1245 {
1246 if (Time()>fSunRise)
1247 return Park();
1248 }*/
1249
1250 const Time now;
1251
1252
1253 if (now>fSunRise)
1254 {
1255 if (T::GetCurrentState()>Drive::State::kLocked)
1256 return Park();
1257
1258 if (T::GetCurrentState()==Drive::State::kLocked)
1259 {
1260 fSunRise = now.GetNextSunRise();
1261
1262 ostringstream msg;
1263 msg << "Next sun-rise will be at " << fSunRise;
1264 T::Info(msg);
1265
1266 return Drive::State::kLocked;
1267 }
1268 }
1269
1270 if (T::GetCurrentState()==Drive::State::kLocked)
1271 return Drive::State::kLocked;
1272
1273 const int state = fDrive.GetState();
1274
1275 if (!fLastCommand.empty())
1276 {
1277 // If auto resume is enabled and the drive is in error,
1278 // resume tracking
1279 if (state==StateMachineImp::kSM_Error)
1280 {
1281 if (fAutoResume==1)
1282 {
1283 Resume();
1284 fAutoResume = 2;
1285 fAutoResumeTime = now;
1286 }
1287
1288 if (fAutoResume==2 && fAutoResumeTime+boost::posix_time::seconds(5)<now)
1289 {
1290 Resume();
1291 fAutoResume = 3;
1292 }
1293 }
1294 else
1295 {
1296 // If drive got out of the error state,
1297 // enable auto resume again
1298 if (fAutoResume>1)
1299 fAutoResume = 1;
1300 }
1301 }
1302
1303 return state;
1304 }
1305
1306
1307public:
1308 StateMachineDrive(ostream &out=cout) :
1309 StateMachineAsio<T>(out, "DRIVE_CONTROL"), fDrive(*this, *this),
1310 fAutoResume(false), fSunRise(Time().GetNextSunRise())
1311 {
1312 // State names
1313 T::AddStateName(State::kDisconnected, "Disconnected",
1314 "No connection to cosy");
1315
1316 T::AddStateName(State::kConnected, "Connected",
1317 "Cosy connected, drive stopped");
1318
1319 T::AddStateName(State::kNotReady, "NotReady",
1320 "Drive system not ready for movement");
1321
1322 T::AddStateName(State::kLocked, "Locked",
1323 "Drive system is locked (will not accept commands)");
1324
1325 T::AddStateName(State::kReady, "Ready",
1326 "Drive system ready for movement");
1327
1328 T::AddStateName(State::kArmed, "Armed",
1329 "Cosy armed, drive stopped");
1330
1331 T::AddStateName(State::kMoving, "Moving",
1332 "Telescope moving");
1333
1334 T::AddStateName(State::kTracking, "Tracking",
1335 "Telescope is in tracking mode");
1336
1337 T::AddStateName(State::kOnTrack, "OnTrack",
1338 "Telescope tracking stable");
1339
1340 // State::kIdle
1341 // State::kArmed
1342 // State::kMoving
1343 // State::kTracking
1344
1345 // Init
1346 // -----------
1347 // "ARM lock"
1348 // "STGMD off"
1349
1350 /*
1351 [ ] WAIT -> WM_WAIT
1352 [x] STOP! -> WM_STOP
1353 [x] RADEC ra(+ d m s.f) dec(+ d m s.f)
1354 [x] GRB ra(+ d m s.f) dec(+ d m s.f)
1355 [x] ZDAZ zd(+ d m s.f) az (+ d m s.f)
1356 [ ] CELEST id offset angle
1357 [ ] MOON wobble offset
1358 [ ] PREPS string
1359 [ ] TPOIN star mag
1360 [ ] ARM lock/unlock
1361 [ ] STGMD on/off
1362 */
1363
1364 // Drive Commands
1365 T::AddEvent("MOVE_TO", "D:2", State::kArmed) // ->ZDAZ
1366 (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kPoint))
1367 ("Move the telescope to the given local coordinates"
1368 "|Zd[deg]:Zenith distance"
1369 "|Az[deg]:Azimuth");
1370
1371 T::AddEvent("TRACK", "D:2", State::kArmed, State::kTracking, State::kOnTrack) // ->RADEC/GRB
1372 (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kTrackSlow))
1373 ("Move the telescope to the given sky coordinates and start tracking them"
1374 "|Ra[h]:Right ascension"
1375 "|Dec[deg]:Declination");
1376
1377 T::AddEvent("WOBBLE", "D:4", State::kArmed, State::kTracking, State::kOnTrack) // ->RADEC/GRB
1378 (bind(&StateMachineDrive::Wobble, this, placeholders::_1))
1379 ("Move the telescope to the given wobble position around the given sky coordinates and start tracking them"
1380 "|Ra[h]:Right ascension"
1381 "|Dec[deg]:Declination"
1382 "|Offset[deg]:Wobble offset"
1383 "|Angle[deg]:Wobble angle");
1384
1385 T::AddEvent("TRACK_SOURCE", "D:2;C", State::kArmed, State::kTracking, State::kOnTrack) // ->RADEC/GRB
1386 (bind(&StateMachineDrive::Track, this, placeholders::_1))
1387 ("Move the telescope to the given wobble position around the given source and start tracking"
1388 "|Offset[deg]:Wobble offset"
1389 "|Angle[deg]:Wobble angle"
1390 "|Name[string]:Source name");
1391
1392 T::AddEvent("TRACK_WOBBLE", "S:1;C", State::kArmed, State::kTracking, State::kOnTrack) // ->RADEC/GRB
1393 (bind(&StateMachineDrive::TrackWobble, this, placeholders::_1))
1394 ("Move the telescope to the given wobble position around the given source and start tracking"
1395 "|id:Wobble angle id (1 or 2)"
1396 "|Name[string]:Source name");
1397
1398 T::AddEvent("TRACK_ON", "C", State::kArmed, State::kTracking, State::kOnTrack) // ->RADEC/GRB
1399 (bind(&StateMachineDrive::TrackOn, this, placeholders::_1))
1400 ("Move the telescope to the given position and start tracking"
1401 "|Name[string]:Source name");
1402
1403 T::AddEvent("RESUME", StateMachineImp::kSM_Error)
1404 (bind(&StateMachineDrive::Resume, this))
1405 ("If drive is in Error state, this can b used to resume the last tracking command, if the last command sent to cosy was a tracking command.");
1406
1407 T::AddEvent("MOON", State::kArmed, State::kTracking, State::kOnTrack)
1408 (bind(&StateMachineDrive::TrackCelest, this, "MOON 0 0", "Moon"))
1409 ("Start tracking the moon");
1410 T::AddEvent("VENUS", State::kArmed, State::kTracking, State::kOnTrack)
1411 (bind(&StateMachineDrive::TrackCelest, this, "CELEST 2 0 0", "Venus"))
1412 ("Start tracking Venus");
1413 T::AddEvent("MARS", State::kArmed, State::kTracking, State::kOnTrack)
1414 (bind(&StateMachineDrive::TrackCelest, this, "CELEST 4 0 0", "Mars"))
1415 ("Start tracking Mars");
1416 T::AddEvent("JUPITER", State::kArmed, State::kTracking, State::kOnTrack)
1417 (bind(&StateMachineDrive::TrackCelest, this, "CELEST 5 0 0", "Jupiter"))
1418 ("Start tracking Jupiter");
1419 T::AddEvent("SATURN", State::kArmed, State::kTracking, State::kOnTrack)
1420 (bind(&StateMachineDrive::TrackCelest, this, "CELEST 6 0 0", "Saturn"))
1421 ("Start tracking Saturn");
1422
1423 T::AddEvent("PARK", State::kArmed, State::kMoving, State::kTracking, State::kOnTrack, 0x100)
1424 (bind(&StateMachineDrive::Park, this))
1425 ("Park the telescope");
1426
1427 T::AddEvent("TAKE_TPOINT")
1428 (bind(&StateMachineDrive::SendCommand, this, "TPOIN FACT 0"))
1429 ("Take a TPoint");
1430
1431 T::AddEvent("TPOINT", "F:1;C")
1432 (bind(&StateMachineDrive::TakeTPoint, this, placeholders::_1))
1433 ("Take a TPoint (given values will be written to the TPoint files)"
1434 "|mag[float]:Magnitude of the star"
1435 "|name[string]:Name of the star");
1436
1437 T::AddEvent("SET_LED_BRIGHTNESS", "I:2")
1438 (bind(&StateMachineDrive::SetLedBrightness, this, placeholders::_1))
1439 ("Set the LED brightness of the top and bottom leds"
1440 "|top[au]:Allowed range 0-32767 for top LEDs"
1441 "|bot[au]:Allowed range 0-32767 for bottom LEDs");
1442
1443 T::AddEvent("LEDS_OFF")
1444 (bind(&StateMachineDrive::SendCommand, this, "LEDS 0 0"))
1445 ("Switch off TPoint LEDs");
1446
1447 T::AddEvent("STOP")
1448 (bind(&StateMachineDrive::SendStop, this))
1449 ("Stop any kind of movement.");
1450
1451// T::AddEvent("ARM", State::kConnected)
1452// (bind(&StateMachineSendCommand, this, "ARM lock"))
1453// ("");
1454
1455 T::AddEvent("UNLOCK", Drive::State::kLocked)
1456 (bind(&StateMachineDrive::Unlock, this))
1457 ("Unlock locked state.");
1458
1459 T::AddEvent("SET_AUTORESUME", "B:1")
1460 (bind(&StateMachineDrive::SetAutoResume, this, placeholders::_1))
1461 ("Enable/disable auto resume"
1462 "|resume[bool]:if enabled, drive is tracking and goes to error state, the last tracking command is repeated automatically.");
1463
1464 // Verbosity commands
1465 T::AddEvent("SET_VERBOSE", "B:1")
1466 (bind(&StateMachineDrive::SetVerbosity, this, placeholders::_1))
1467 ("Set verbosity state"
1468 "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data");
1469
1470 // Conenction commands
1471 T::AddEvent("DISCONNECT", State::kConnected, State::kArmed)
1472 (bind(&StateMachineDrive::Disconnect, this))
1473 ("disconnect from ethernet");
1474
1475 T::AddEvent("RECONNECT", "O", State::kDisconnected, State::kConnected, State::kArmed)
1476 (bind(&StateMachineDrive::Reconnect, this, placeholders::_1))
1477 ("(Re)connect Ethernet connection to cosy, a new address can be given"
1478 "|[host][string]:new ethernet address in the form <host:port>");
1479
1480
1481 T::AddEvent("PRINT")
1482 (bind(&StateMachineDrive::Print, this))
1483 ("Print source list.");
1484
1485 T::AddEvent("RELOAD_SOURCES")
1486 (bind(&StateMachineDrive::ReloadSources, this))
1487 ("Reload sources from database after database has changed..");
1488
1489 fDrive.StartConnect();
1490 }
1491
1492 void SetEndpoint(const string &url)
1493 {
1494 fDrive.SetEndpoint(url);
1495 }
1496
1497 bool AddSource(const string &name, const Source &src)
1498 {
1499 const auto it = fSources.find(name);
1500 if (it!=fSources.end())
1501 T::Warn("Source '"+name+"' already in list... overwriting.");
1502
1503 fSources[name] = src;
1504 return it==fSources.end();
1505 }
1506
1507 void ReadDatabase(bool print=true)
1508 {
1509#ifdef HAVE_SQL
1510 Database db(fDatabase);
1511
1512 T::Message("Connected to '"+db.uri()+"'");
1513
1514 const mysqlpp::StoreQueryResult res =
1515 db.query("SELECT fSourceName, fRightAscension, fDeclination, fWobbleOffset, fWobbleAngle0, fWobbleAngle1 FROM Source").store();
1516
1517 fSources.clear();
1518 for (vector<mysqlpp::Row>::const_iterator v=res.begin(); v<res.end(); v++)
1519 {
1520 const string name = (*v)[0].c_str();
1521
1522 Source src;
1523 src.ra = (*v)[1];
1524 src.dec = (*v)[2];
1525 src.offset = (*v)[3];
1526 src.angle[0] = (*v)[4];
1527 src.angle[1] = (*v)[5];
1528 AddSource(name, src);
1529
1530 if (!print)
1531 continue;
1532
1533 ostringstream msg;
1534 msg << " " << name << setprecision(8) << ": Ra=" << src.ra << "h Dec=" << src.dec << "deg";
1535 msg << " Wobble=[" << src.offset << "," << src.angle[0] << "," << src.angle[1] << "]";
1536 T::Message(msg);
1537 }
1538#else
1539 T::Warn("MySQL support not compiled into the program.");
1540#endif
1541 }
1542
1543 int EvalOptions(Configuration &conf)
1544 {
1545 if (!fSunRise)
1546 return 1;
1547
1548 fDrive.SetVerbose(!conf.Get<bool>("quiet"));
1549
1550 const vector<string> &vec = conf.Vec<string>("source");
1551
1552 for (vector<string>::const_iterator it=vec.begin(); it!=vec.end(); it++)
1553 {
1554 istringstream stream(*it);
1555
1556 string name;
1557
1558 int i=0;
1559
1560 Source src;
1561
1562 string buffer;
1563 while (getline(stream, buffer, ','))
1564 {
1565 istringstream is(buffer);
1566
1567 switch (i++)
1568 {
1569 case 0: name = buffer; break;
1570 case 1: src.ra = ConnectionDrive::ReadAngle(is); break;
1571 case 2: src.dec = ConnectionDrive::ReadAngle(is); break;
1572 case 3: is >> src.offset; break;
1573 case 4: is >> src.angle[0]; break;
1574 case 5: is >> src.angle[1]; break;
1575 }
1576
1577 if (is.fail())
1578 break;
1579 }
1580
1581 if (i==3 || i==6)
1582 {
1583 AddSource(name, src);
1584 continue;
1585 }
1586
1587 T::Warn("Resource 'source' not correctly formatted: '"+*it+"'");
1588 }
1589
1590 fDrive.SetDeviationCondition(conf.Get<uint16_t>("deviation-limit"),
1591 conf.Get<uint16_t>("deviation-count"),
1592 conf.Get<uint16_t>("deviation-max"));
1593
1594 fAutoResume = conf.Get<bool>("auto-resume");
1595
1596 if (conf.Has("source-database"))
1597 {
1598 fDatabase = conf.Get<string>("source-database");
1599 ReadDatabase();
1600 }
1601
1602 if (fSunRise.IsValid())
1603 {
1604 ostringstream msg;
1605 msg << "Next sun-rise will be at " << fSunRise;
1606 T::Message(msg);
1607 }
1608
1609 // The possibility to connect should be last, so that
1610 // everything else is already initialized.
1611 SetEndpoint(conf.Get<string>("addr"));
1612
1613 return -1;
1614 }
1615};
1616
1617// ------------------------------------------------------------------------
1618
1619#include "Main.h"
1620
1621
1622template<class T, class S, class R>
1623int RunShell(Configuration &conf)
1624{
1625 return Main::execute<T, StateMachineDrive<S, R>>(conf);
1626}
1627
1628void SetupConfiguration(Configuration &conf)
1629{
1630 const string def = "localhost:7404";
1631
1632 po::options_description control("Drive control options");
1633 control.add_options()
1634 ("no-dim,d", po_switch(), "Disable dim services")
1635 ("addr,a", var<string>(def), "Network address of cosy")
1636 ("quiet,q", po_bool(true), "Disable printing contents of all received messages (except dynamic data) in clear text.")
1637 ("source-database", var<string>(), "Database link as in\n\tuser:password@server[:port]/database.")
1638 ("source", vars<string>(), "Additional source entry in the form \"name,hh:mm:ss,dd:mm:ss\"")
1639 ("deviation-limit", var<uint16_t>(90), "Deviation limit in arcsec to get 'OnTrack'")
1640 ("deviation-count", var<uint16_t>(3), "Minimum number of reported deviation below deviation-limit to get 'OnTrack'")
1641 ("deviation-max", var<uint16_t>(180), "Maximum deviation in arcsec allowed to keep status 'OnTrack'")
1642 ("auto-resume", po_bool(false), "Enable auto result during tracking if connection is lost")
1643 ;
1644
1645 conf.AddOptions(control);
1646}
1647
1648/*
1649 Extract usage clause(s) [if any] for SYNOPSIS.
1650 Translators: "Usage" and "or" here are patterns (regular expressions) which
1651 are used to match the usage synopsis in program output. An example from cp
1652 (GNU coreutils) which contains both strings:
1653 Usage: cp [OPTION]... [-T] SOURCE DEST
1654 or: cp [OPTION]... SOURCE... DIRECTORY
1655 or: cp [OPTION]... -t DIRECTORY SOURCE...
1656 */
1657void PrintUsage()
1658{
1659 cout <<
1660 "The cosyctrl is an interface to cosy.\n"
1661 "\n"
1662 "The default is that the program is started without user intercation. "
1663 "All actions are supposed to arrive as DimCommands. Using the -c "
1664 "option, a local shell can be initialized. With h or help a short "
1665 "help message about the usuage can be brought to the screen.\n"
1666 "\n"
1667 "Usage: cosyctrl [-c type] [OPTIONS]\n"
1668 " or: cosyctrl [OPTIONS]\n";
1669 cout << endl;
1670}
1671
1672void PrintHelp()
1673{
1674 Main::PrintHelp<StateMachineDrive<StateMachine,ConnectionDrive>>();
1675
1676 /* Additional help text which is printed after the configuration
1677 options goes here */
1678
1679 /*
1680 cout << "bla bla bla" << endl << endl;
1681 cout << endl;
1682 cout << "Environment:" << endl;
1683 cout << "environment" << endl;
1684 cout << endl;
1685 cout << "Examples:" << endl;
1686 cout << "test exam" << endl;
1687 cout << endl;
1688 cout << "Files:" << endl;
1689 cout << "files" << endl;
1690 cout << endl;
1691 */
1692}
1693
1694int main(int argc, const char* argv[])
1695{
1696 Configuration conf(argv[0]);
1697 conf.SetPrintUsage(PrintUsage);
1698 Main::SetupConfiguration(conf);
1699 SetupConfiguration(conf);
1700
1701 if (!conf.DoParse(argc, argv, PrintHelp))
1702 return 127;
1703
1704 //try
1705 {
1706 // No console access at all
1707 if (!conf.Has("console"))
1708 {
1709 if (conf.Get<bool>("no-dim"))
1710 return RunShell<LocalStream, StateMachine, ConnectionDrive>(conf);
1711 else
1712 return RunShell<LocalStream, StateMachineDim, ConnectionDimDrive>(conf);
1713 }
1714 // Cosole access w/ and w/o Dim
1715 if (conf.Get<bool>("no-dim"))
1716 {
1717 if (conf.Get<int>("console")==0)
1718 return RunShell<LocalShell, StateMachine, ConnectionDrive>(conf);
1719 else
1720 return RunShell<LocalConsole, StateMachine, ConnectionDrive>(conf);
1721 }
1722 else
1723 {
1724 if (conf.Get<int>("console")==0)
1725 return RunShell<LocalShell, StateMachineDim, ConnectionDimDrive>(conf);
1726 else
1727 return RunShell<LocalConsole, StateMachineDim, ConnectionDimDrive>(conf);
1728 }
1729 }
1730 /*catch (std::exception& e)
1731 {
1732 cerr << "Exception: " << e.what() << endl;
1733 return -1;
1734 }*/
1735
1736 return 0;
1737}
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